38 results about "Throttle opening" patented technology

This invention discloses a control method for HC injection, belonging to the field of engine aftertreatment technology. It addresses the technical problems of DPF carrier damage and failure, difficulty in temperature rise, or white smoke emission caused by high temperatures during vehicle operation due to complex vehicle conditions. The method involves: obtaining the engine's actual speed and load; querying the maximum HC injection MAP table based on the actual speed and load to obtain the first HC injection flow rate; obtaining the engine's actual throttle opening change rate; querying the throttle opening change rate correction MAP table based on the actual throttle opening change rate to obtain the throttle opening change rate correction coefficient; correcting the first HC injection flow rate based on the throttle opening change rate correction coefficient to obtain the second HC injection flow rate; selecting the minimum value among the first HC injection flow rate, the second HC injection flow rate, and the actual required injection quantity as the target injection flow rate; and controlling the engine to perform HC injection based on the target injection flow rate.

A ship control device is provided with an input unit capable of acquiring operation inputs from each of a first operator used in a low-speed navigation control mode and a second operator used in a high speed navigation control mode, and a control unit for determining a target direction and a throttle opening in the direction control at the time of navigation based on the operation inputs acquired in the input unit. The low-speed navigation control mode has a manual operation control mode by the operation of the first operator and an automatic navigation control mode for holding a direction or a throttle opening using the target direction. The control unit is provided with a setting unit for setting the target direction and the throttle opening used for automatic navigation based on the operation input to the first operator in the automatic navigation control mode.

The utility model provides a kind of double sealing clean type stop valve, belong to stop valve technical field, including valve body, valve rod, valve core, valve seat and bonnet, the throttle opening is provided in the valve body, the valve seat is set in throttle opening, it includes outer conical sealing part and inner conical sealing part, the outside of valve core is provided with the soft sealing element of sealing cooperation with outer conical sealing part and the hard sealing element of sealing cooperation with inner conical sealing part, and the lower side of hard sealing element on it is provided with elastic scraper ring, the section of elastic scraper ring is U shape, when it moves towards valve seat with valve core, and its arc end wipes inner conical sealing part;The utility model forms soft and hard double sealing structure, improves the sealing reliability of valve;Meanwhile in the process of valve closing, the arc end of elastic scraper ring can automatically wipe inner conical sealing surface, effectively remove adhered solid particles, avoid particle pinch injury sealing surface, prolong the service life of valve.

Disclosed in the present invention are a method and system for predictive cruise control of a commercial vehicle. The method comprises: acquiring as input parameters road gradient information provided by a high-precision map and a target cruise vehicle speed corrected by a deep belief network-based driving style model; on the basis of the speed and torque of an engine, using a weighted moving average algorithm to perform averaging processing on power values within a short period of time, so as to generate a current engine power; on the basis of an automobile power balance equation, predicting a driving power demand for a next slope section on the basis of gradient values of a current position and a road ahead; and in view of a high-efficiency output power range of the engine itself, and on the basis of different power demands, generating a recommended gear and an optimal throttle opening for the next slope section. Therefore, in the method for predictive cruise control of a commercial vehicle of the present invention, a gear and a throttle can be adaptively adjusted on the basis of road gradients and driving habits, thereby improving the driving efficiency and fuel economy, and enhancing the personalization of driving experience.

The utility model discloses a kind of vehicle automatic mechanical transmission electro-hydraulic actuator control system, simplify the structure composition of overall system, when using, the speed of vehicle, vehicle speed and throttle opening can be directly transmitted to electro-hydraulic actuator controller by transmission controller, and then drive motor drives piston movement, by changing the way of hydraulic oil pressure in hydraulic cavity acts on clutch, while improving overall system reliability and integration degree, since the reliability and integration degree promotion, also further guarantee the stability of sensor installation. According to the characteristics of transmission controller and electro-hydraulic actuator controller, the pin composition of electro-hydraulic actuator wire harness connector is optimized, the hard-wired connection of electro-hydraulic actuator sensor, motor and transmission controller is reduced by CAN communication, the wire harness cost is saved while optimizing wire, suitable for large-scale use and promotion in industry.

The application discloses an E-power architecture dump truck power distribution control method and system, mainly relates to the power distribution technical field, in order to solve the existing engine and battery power distribution is not reasonable, engine working efficiency is low and other problems. Including: according to the front axle main motor speed corresponding rated torque, rear axle main motor speed corresponding rated torque and throttle opening, the front and rear axle demand torque is calculated;Further according to the front axle gear corresponding speed ratio and rear axle gear corresponding speed ratio, the wheel end demand power is calculated;According to the wheel end demand power and the state of charge, the engine operating power is determined;According to the engine universal characteristic, the universal characteristic power curve and the BSFC curve tangent point are obtained, and then the engine economic curve is obtained;Determine the engine net power corresponding to the working condition point in the economic curve;According to the engine operating power and the wheel end demand power, the final working condition point is determined in the economic curve corresponding to several working condition points.

The present application is to suppress a feeling of a forward rush of a host vehicle at a time of a lane change and achieve appropriate acceleration in a vehicle that performs drive force limitation for maintaining a vehicle-to-vehicle distance of the host vehicle with respect to a preceding vehicle at or above a constant. A drive assist system assists driving of a host vehicle by a driver, and includes a control device. The control device performs torque limitation processing for limiting an output torque of a drive device of the host vehicle with a limitation torque, with respect to a driver's required torque based on an accelerator opening degree of an accelerator pedal of the host vehicle, in a manner of maintaining the vehicle-to-vehicle distance of the host vehicle with respect to the preceding vehicle at or above a constant. The torque limitation processing includes limitation torque correction processing for increasing the limitation torque based on an increase amount of the accelerator pedal from a detection point of time of the start of a lane change operation of the host vehicle by the driver.

This invention discloses an engine water injection system based on throttle opening control, including a sensor unit for detecting engine temperature and throttle opening; an electronic control unit for sending corresponding control signals to the water injection unit based on the detected engine temperature and throttle opening; the water injection unit includes a water tank storing coolant, with the water tank's outlet connected to the intake manifold via a water supply pipe, a water pump driving the coolant into the intake manifold on the water supply pipe, and a nozzle at the water supply pipe's outlet. This invention uses the sensor unit to collect engine temperature and throttle opening parameters in real time, and the electronic control unit dynamically adjusts the start / stop timing and atomization intensity of the water injection unit, thereby precisely controlling the water injection volume. This suppresses nitrogen oxide generation while avoiding resource waste under low-temperature conditions, achieving the dual effects of improved exhaust gas treatment efficiency and energy saving and emission reduction.

The present application relates to the technical field of fuel cell, and belongs to a kind of fuel cell stack gas pressure and temperature following intelligent control system and method.The present application establishes temperature-pressure-pressure stress coupling model, realizes real-time monitoring and quantitative evaluation to membrane electrode surface pressure stress, solves the problem of " invisible, uncontrollable " in the prior art stress state in stack, provides direct and reliable feedback basis for closed-loop control, eliminates the risk of overpressure damage or poor contact underpressure.At the same time, the working temperature of the stack is associated with the gas pressure, the target gas pressure is dynamically calculated according to the real-time temperature, and the gas pressure is changed by adjusting the speed of air compressor, hydrogen injection rail opening and throttle opening, so as to overcome the problem of stress fluctuation caused by independent control of temperature and pressure in traditional scheme, ensure that the membrane electrode is always in the preset pressure range, and the output performance of the stack and the service life of the membrane electrode are considered.

The application relates to a vehicle driving performance adjustment method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring multiple engine speeds in the engine working speed range of a vehicle, and acquiring multiple groups of test data collected at the multiple engine speeds under the vehicle use state, wherein each group of test data comprises vehicle driving power and mechanical system friction power collected at multiple throttle opening degrees; drawing a vehicle speed regulation characteristic curve according to the test data corresponding to each engine speed; and adjusting the vehicle driving performance according to the drawn vehicle speed regulation characteristic curve. The method can acquire the change relationship between the vehicle performance index and the speed at different throttle positions under the vehicle use state, and then realizes the targeted adjustment of the vehicle driving performance.

This application relates to a control method for a throttle misoperation prevention function. The method includes: when the throttle misoperation prevention function is activated, acquiring in real time vehicle speed, throttle opening, throttle opening change rate, the type of the nearest collision target on the vehicle trajectory, the distance-to-collision time, gear position, and parking brake status; when the vehicle speed is 0, determining and executing a first target throttle misoperation prevention function control strategy based on the throttle opening, throttle opening change rate, distance-to-collision time, and collision target type; adjusting the first target throttle misoperation prevention function control strategy according to the throttle opening and gear position; when the vehicle speed meets a preset low-speed condition, determining and executing a second target throttle misoperation prevention function control strategy based on the throttle opening, throttle opening change rate, and distance-to-collision time; adjusting the second target throttle misoperation prevention function control strategy according to the throttle opening and gear position; and when the vehicle speed meets a preset high-speed condition, executing a third target throttle misoperation prevention function control strategy based on the distance-to-collision time.

The present invention provides an improved collision avoidance device that can avoid a collision through automatic braking even if there is a risk of the vehicle colliding with an obstacle again after the automatic braking has ended. [Solution] A vehicle collision avoidance device 100 includes a driver assistance ECU 10, which is configured as a control unit that, based on the detection results of a target information acquisition device 18 as a target detection device, determines that there is a risk of the vehicle 102 colliding with an obstacle, and performs automatic braking to reduce the risk, wherein the driver assistance ECU 10 determines whether a specific condition is met, such that the accelerator opening due to the driver's driving operation is equal to or greater than a reference opening, when the automatic braking is completed, and when it is determined that the specific condition is met, it is configured to control the driving force of the vehicle so that the vehicle speed does not exceed the upper limit of the vehicle speed range in which automatic braking is performed.

A collision avoidance apparatus for a vehicle comprises a driving support ECU serving as an electronic control unit configured to execute automatic braking to reduce a risk when it is determined, based on a detection result of an object detection device, that a host vehicle is at risk of colliding with an obstacle. The driving support ECU is further configured to determine whether a specific condition that an accelerator opening degree due to driving operation by a driver is equal to or greater than a reference opening degree is satisfied when the automatic braking is terminated, and when it is determined that the specific condition is satisfied, the driving support ECU controls a driving force of the host vehicle so that a vehicle speed of the host vehicle does not exceed an upper limit vehicle speed of a vehicle speed range in which the automatic braking is executed.

The application provides a fuel cell air supply control method, device, equipment, medium and vehicle, and the method comprises the following steps: querying an air compressor rotating speed feedforward data table and a throttle opening degree feedforward data table according to an air mass flow request and an air inlet pressure request, so as to obtain the air compressor rotating speed and the throttle opening degree under a standard condition; inversely processing the air compressor rotating speed and the throttle opening degree under the standard condition, so as to obtain an air compressor rotating speed actual feedforward value and a throttle opening degree actual feedforward value; and performing air supply control on a fuel cell engine based on the air compressor rotating speed actual feedforward value and the throttle opening degree actual feedforward value. The application can enhance the adaptability of the fuel cell air system to the environment, and the air compressor rotating speed feedforward reference value and the throttle opening degree feedforward reference value under different environmental temperature and pressure are close to the real demand of the air compressor rotating speed and the throttle opening degree; the time for compensating and correcting the air compressor rotating speed and the throttle opening degree request value is reduced, and the dynamic response speed is improved.

This invention discloses a hydraulic system and control method incorporating an electronically controlled variable pump and an electro-proportional multi-way valve. Addressing the technical shortcomings of existing pump-controlled volumetric speed regulation systems (poor stability under low-speed and heavy-load conditions) and load-sensitive valve-controlled systems (high energy consumption under high-speed and light-load conditions), this invention adopts an integrated hardware architecture of the electronically controlled variable pump and electro-proportional multi-way valve. It achieves intelligent identification of operating conditions by collecting parameters such as pressure, speed, lever opening, and throttle opening through sensors. Under low-speed and heavy-load conditions, it automatically activates the load-sensitive valve control mode to ensure operational stability and control accuracy. Under medium- and high-speed and light-load conditions, it automatically switches to the pump-controlled volumetric speed regulation mode to minimize energy consumption. Furthermore, it achieves seamless and stepless switching of pump and valve modes through PID compensation, lever dead-zone compensation, and load interference compensation. This invention can accurately adapt to the multi-condition operating requirements of construction machinery, balancing the stability of heavy-load and low-speed control with the energy efficiency of medium- and high-speed and light-load operations, effectively reducing system energy consumption and improving control accuracy and operational smoothness.

The application discloses a kind of motorcycle range extender intelligent control method and system, belong to motorcycle power control technical field.The method is through CCU acquisition engine throttle opening, engine speed, battery state of charge SOC, driving motor speed, generator speed and ABS signal and other information, by feature extraction, filtering correction and four system linkage optimization calculation, realize the coordinated control of engine, generator, battery and driving motor.System includes CCU, range extender module, driving system module, battery management module and execution module and so on unit, CCU according to driving mode signal and battery SOC threshold dynamic switching pure electric mode, economic mode and range extending mode, realize energy intelligent distribution.The application is through the comprehensive judgment of road condition and driver's intention, using self-learning optimization algorithm, improve the matching efficiency of engine and generator, reduce the fuel consumption of whole vehicle, prolong battery life, suitable for the intelligent energy management and control of multi-working-condition motorcycle.

The embodiment of the application discloses a control method and device of a fuel cell turbo-compressor. The method comprises the following steps: identifying a current working condition according to an operating parameter; in a slow load reduction working condition, slowly opening a bypass valve, slowly closing a variable nozzle ring, reducing a high-speed drive motor speed and a throttle opening degree, maintaining a compressor outlet flow rate not lower than a minimum safe flow rate, recovering turbine residual pressure energy and motor rotor kinetic energy; in a rapid load reduction working condition, quickly opening the bypass valve, quickly closing the variable nozzle ring, reducing the high-speed drive motor speed and the throttle opening degree, maintaining the compressor outlet flow rate not lower than the minimum safe flow rate, recovering the turbine residual pressure energy and the motor rotor kinetic energy; in an emergency shutdown working condition, fully closing the variable nozzle ring, fully opening the bypass valve, idling the high-speed drive motor, keeping the throttle at a purge opening degree and stopping the system after the purge is completed, so that on-line surge suppression, pressure overshoot control and energy recovery are coordinated, and the system safety and energy utilization rate are improved.

This invention discloses an automatic throttle speed control method and system for aircraft based on dynamic inverse, belonging to the field of design technology. The method includes: multiplying the difference between the ground speed command and the ground speed feedback by an acceleration gain proportional term to obtain the desired ground speed acceleration increment; solving for the ground speed acceleration increment using climb angle, angle of attack, sideslip angle, axial overload, lateral overload, and normal overload; multiplying the difference between the desired ground speed acceleration increment and the ground speed acceleration increment by a state function related to the aircraft's mass to obtain the desired thrust acceleration increment; obtaining the engine thrust efficiency matrix by taking the partial derivative of the engine thrust with respect to the throttle opening; multiplying the calculated desired thrust acceleration increment by the inverse of the thrust efficiency matrix, and then adding the throttle state variable from the previous cycle to obtain the final throttle control command. The automatic throttle control law of this invention is derived from pure equations of motion, with clear physical meaning. The control law structure does not contain integrators, feedforward compensation, or other terms, reducing the "trial and error" work of gain preset while achieving consistent control performance. It exhibits high robustness and has broad engineering application prospects.

The present disclosure relates to the carburetor technical field, especially to the carburetor of automatic control engine throttle opening degree. Its technical scheme includes: the carburetor part shell, the throttle rotatingly connected in the carburetor part shell and the pull rod connected with the external throttle handle through the connecting rod structure, the throttle fixedly connected with the throttle connecting shaft, including opening degree limiting mechanism, the opening degree limiting mechanism includes the stop lever fixed to the outer wall of the throttle connecting shaft, the arc-shaped mounting seat arranged on the outer wall of the carburetor part shell and the stopper slidingly connected with the arc-shaped mounting seat. The present disclosure can limit the opening degree of the throttle by the design of the opening degree limiting mechanism, mainly limit the maximum opening degree value, avoid the accident caused by the speed being too fast due to the accidental operation of increasing the throttle, and through the sliding design between the stopper and the arc-shaped mounting seat, the upper limit of the maximum opening degree can be adjusted by adjusting the position of the stopper, so that the user can select different gear adjustments according to the actual needs and personal habits.

This application discloses a vehicle and its starting compensation method, relating to the field of vehicle technology. The method includes: determining a starting compensation state; when the starting compensation state is a first slope starting compensation state, controlling the clutch to be in an open state, and determining a first target engine speed compensation amount based on the throttle opening signal, slope resistance torque, and the engine speed stored at the start of the start; when the slope starting compensation state is a second slope starting compensation state, controlling the clutch to be in a closed state, and determining a second target engine speed compensation amount based on the throttle opening signal and slope resistance torque; and compensating the engine speed according to the first or second target engine speed compensation amount. Thus, by activating the slope starting compensation function, the vehicle reduces the clutch engagement at low engine speeds, and the clutch quickly engages to achieve starting once the engine speed reaches the target speed, improving the vehicle's climbing ability.

This application provides a control method for regenerative torque in a vehicle with one-pedal mode. In one-pedal mode regenerative braking, the control method includes step S11: continuously acquiring the throttle opening value, the time corresponding to the acquired opening value, the state of the traction control system, and the target regenerative torque; step S12: when the throttle opening increases and the increase in throttle opening exceeds a preset opening threshold within a preset time, step S13 or S14 is executed according to the state of the traction control system; step S13: when the traction control system is in an inactive state, the target regenerative torque is corrected, and the corrected target regenerative torque is less than the target regenerative torque but greater than 0; step S14: when the traction control system is in an active state, the target regenerative torque is set to 0. This application also provides a regenerative torque control device, system, and computer program product for a one-pedal mode vehicle.

The present application relates to a control method of an internal combustion engine and a control device of an internal combustion engine, in which an intake air amount (A1) directly measured by an air flow meter (19) is selected as an air amount that becomes a basis of an air-fuel ratio control at normal times, and in a state in which an opening area (St) of a throttle valve (14) is smaller than an opening area (Sn) of a negative pressure generation valve (18), an intake air amount (A2) that is not dependent on the air flow meter (19), for example, an intake air amount that is estimated and calculated based on a throttle opening degree, is selected as an air amount that becomes a basis of an air-fuel ratio control at a prescribed transition state. Thus, a response delay of detection of the intake air amount can be suppressed, an intake air amount (A) corresponding to a requested engine torque (T) of the internal combustion engine (1) can be supplied, and an improvement in precision of the air-fuel ratio control can be achieved.

This invention discloses a starting control method, system, equipment, aircraft, and medium for a propeller-driven aircraft piston engine, relating to the field of aero-engine control technology. The method includes: performing a power-on self-test before starting, checking the minimum propeller blade angle, throttle opening, and fuel pressure; after the self-test, the flight control computer automatically and adaptively controls the starting throttle opening and target starting speed based on altitude and atmospheric static temperature; during starting, status monitoring is performed, towing the engine to a state capable of ignition and fuel injection control; after successful starting, the lubricating oil temperature is determined to automatically set the corresponding throttle opening and warm-up speed; finally, a dual ignition system check and pre-flight condition checks are performed. This invention achieves fully closed-loop adaptive control, effectively overcoming starting difficulties in complex environments such as high altitudes and frigid conditions, eliminating the hidden dangers of starting with defects, and significantly improving the timeliness of the aircraft's maneuverability and operational safety.

The application provides an alcohol hydrogen power fuel dynamic proportioning control method, which comprises the following steps: step one, collecting engine load data and cooling liquid temperature data output by an engine ECU through an OBD interface in real time; step two, dynamically generating a hydrogen demand amount instruction and a methanol direct injection amount instruction according to the engine load data and the cooling liquid temperature data by a main control single-chip microcomputer; step three, adjusting the electric heating power of an online hydrogen production device and the methanol supply flow according to the hydrogen demand amount instruction; step four, synchronously adjusting the throttle opening degree and the injection pulse width and injection time of an injection nozzle according to the methanol direct injection amount instruction; and step five, performing closed-loop correction on the air-fuel ratio of actual mixed gas through a long and short term fuel correction module, so as to realize the collaborative optimization of combustion efficiency and emission under all working conditions. The application can solve the problem that an alcohol hydrogen power system cannot accurately and dynamically proportion hydrogen and methanol fuel according to the real-time working condition of an engine to realize collaborative control.

The goal is to prevent accelerator override from starting against the driver's will, while ensuring that the amount of accelerator pedal operation required to initiate accelerator override does not differ depending on whether or not driver assistance control is in place. [Solution] A control unit that performs driving assistance control to control the vehicle speed by controlling the driving force regardless of the accelerator opening degree Aco (S120) is a driving assistance device that performs accelerator override (S140, S150) which controls the driving force based on the accelerator opening degree when a preset condition is met during the execution of driving assistance control, and includes a switch operated by the driver, which switches between an accelerator override disallow mode (B mode) and an accelerator override allow mode (C mode), and the control unit determines that a preset condition is met when the accelerator override allow mode is in place and the accelerator opening degree is greater than or equal to a reference value (S20, S130).

The application discloses a pedal torque control method and related equipment, and relates to the technical field of vehicle control, and the method comprises the following steps: based on the driving wheel motion parameters and the whole vehicle motion parameters of a target vehicle, the current slip rate and the current adhesion coefficient of each driving wheel are calculated; based on the mapping relationship between the adhesion coefficient and the slip rate corresponding to a plurality of road types, the current slip rate and the current adhesion coefficient of each driving wheel are fused, and the target adhesion coefficient of the current road is determined; according to the target adhesion coefficient of the current road, the target pedal torque calibration table and the target torque filtering calibration table corresponding to the target adhesion coefficient are determined from the mapping relationship between the adhesion coefficient and the pedal torque calibration table and the torque filtering calibration table; based on the current vehicle speed and the current throttle opening degree of the target vehicle, the target pedal torque corresponding to the current vehicle speed and the current throttle opening degree is determined from the target pedal torque calibration table and the target torque filtering calibration table.

This application provides a vehicle hill-start assist control method, device, controller, and storage medium. The vehicle is currently in neutral coasting mode. The method includes: detecting the vehicle's throttle opening; if the throttle opening is greater than a preset threshold, detecting the vehicle's current speed as a first current speed and calculating the highest gear matched to the first current speed; detecting the slope of the hill where the vehicle is located; if the slope is greater than a preset slope threshold, calculating the vehicle's acceleration; if the vehicle acceleration is greater than a preset acceleration threshold, determining the highest gear as the vehicle's target gear and controlling the vehicle to enter the target gear, thus ending the neutral coasting phase; if the acceleration is less than or equal to a preset acceleration threshold, downshifting one gear from the highest gear as the vehicle's target gear and controlling the vehicle to enter the target gear, thus ending the neutral coasting phase. This application enables the vehicle to maintain stable gear shifting on hills, improving vehicle power and driving safety.

The motorcycle-type vehicle has a control mechanism for automatically stopping and restarting the engine after automatic stop. When the manual transmission is engaged, the control mechanism restarts the engine based on at least the detection of a throttle opening operation and a clutch disengagement operation. Furthermore, for a predetermined period from the start of restart, if a throttle closing operation is detected, the control mechanism drives the engine at idle speed; otherwise, it drives the engine at a speed corresponding to the operation amount.

The application provides a longitudinal control method and device of an unmanned mine truck, a terminal, equipment, a medium and a chip, and relates to the field of vehicle control. The method comprises the following steps: acquiring load information of the unmanned mine truck, and calculating a load compensation gain coefficient based on the load information; acquiring road pitch angle information and target acceleration, target speed and current speed of the unmanned mine truck, and calculating an adaptive feedforward control instruction value based on the road pitch angle information, the target acceleration, the target speed, the current speed and the load compensation gain coefficient; calculating a preview vehicle speed and a speed preview error of the preview vehicle speed based on the current speed and current acceleration of the unmanned mine truck; calculating a feedback control instruction value based on the speed preview error and the load compensation gain coefficient; obtaining a controller output instruction value based on the adaptive feedforward control instruction value and the feedback control instruction value; and converting the controller output instruction value into a throttle opening degree instruction or a brake pedal opening degree instruction to perform longitudinal control on the unmanned mine truck.

The application discloses a predictive cooperative control method and system of an unmanned aerial vehicle engine and a flight control system, relates to the technical field of unmanned aerial vehicle control, and comprises the following steps: inputting state data and control quantity collected by a flight control computer into a rigid body dynamics model to iteratively calculate a state sequence; extracting a thrust demand sequence and an attitude angle sequence to generate engine feedforward control parameters; combining the attitude angle sequence with a finite state machine to generate a lubrication switching instruction; and integrating a control data frame and sending the same to an engine control unit to drive a multidirectional adaptive lubrication system.The flight control computer pre-calculates an instruction, the engine control unit controls the throttle opening degree, fuel injection amount and ignition advance angle in advance, and drives the bottom main oil suction port and the top auxiliary oil suction port to switch actions, so that lubrication deficiency and thrust response lag are prevented from occurring in the state of inverted flight or large-angle roll, the confidence is calculated in combination with error covariance, and a safety fallback mode is triggered to limit the attitude and prevent mechanical damage in an abnormal state.